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针对一类仿射非线性系统,首先采用轨迹线性化方法将其等价表示为线性时变系统;然后利用神经网络构建伪逆模型以及动态故障模型;最后基于模型参数变化,应用李亚普诺夫稳定性理论构建标称系统控制器及故障补偿控制律,从而实现系统故障下的稳定有界容错控制.仿真结果表明了所提出算法的有效性.
For a class of affine nonlinear systems, firstly, the trajectory linearization method is used to represent it as a linear time-varying system. Then, the neural network is used to construct the pseudo-inverse model and the dynamic fault model. Finally, based on the change of the model parameters, Lyapunov stability In this paper, the nominal system controller and fault compensation control law are constructed based on the theory of sexuality, so as to realize stable and fault tolerant control under system failure. The simulation results show the effectiveness of the proposed algorithm.